CN108472674B - 用于清洁建筑物的外墙壁的系统 - Google Patents

用于清洁建筑物的外墙壁的系统 Download PDF

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Publication number
CN108472674B
CN108472674B CN201780004376.1A CN201780004376A CN108472674B CN 108472674 B CN108472674 B CN 108472674B CN 201780004376 A CN201780004376 A CN 201780004376A CN 108472674 B CN108472674 B CN 108472674B
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China
Prior art keywords
pod
wall
building
robotic arm
pulley system
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CN201780004376.1A
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English (en)
Chinese (zh)
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CN108472674A (zh
Inventor
林辉荣
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Elid Technology International Pte Ltd
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Elid Technology International Pte Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00—Working measures on existing buildings
    • E04G23/002—Arrangements for cleaning building facades
    • E04G23/004—Arrangements for cleaning building facades with arrangements for collecting waste water or cleaning products
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/02—Cleaning by the force of jets or sprays
    • B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B25J19/002—Balancing devices using counterweights
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G3/00—Scaffolds essentially supported by building constructions, e.g. adjustable in height
    • E04G3/28—Mobile scaffolds; Scaffolds with mobile platforms
    • E04G3/30—Mobile scaffolds; Scaffolds with mobile platforms suspended by flexible supporting elements, e.g. cables
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B47/00—Suction cups for attaching purposes; Equivalent means using adhesives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B2203/00—Details of cleaning machines or methods involving the use or presence of liquid or steam
    • B08B2203/02—Details of machines or methods for cleaning by the force of jets or sprays
    • B08B2203/0264—Splash guards
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G3/00—Scaffolds essentially supported by building constructions, e.g. adjustable in height
    • E04G3/28—Mobile scaffolds; Scaffolds with mobile platforms
    • E04G2003/283—Mobile scaffolds; Scaffolds with mobile platforms mobile horizontally
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45013—Spraying, coating, painting

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • Cleaning By Liquid Or Steam (AREA)
  • Manipulator (AREA)
  • Spray Control Apparatus (AREA)
  • Finishing Walls (AREA)
  • Details Or Accessories Of Spraying Plant Or Apparatus (AREA)
CN201780004376.1A 2016-03-29 2017-03-29 用于清洁建筑物的外墙壁的系统 Active CN108472674B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
SG10201602462U 2016-03-29
SG10201602462U 2016-03-29
PCT/SG2017/050167 WO2017171644A1 (en) 2016-03-29 2017-03-29 System and method for cleaning external walls of building

Publications (2)

Publication Number Publication Date
CN108472674A CN108472674A (zh) 2018-08-31
CN108472674B true CN108472674B (zh) 2021-07-09

Family

ID=59959233

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201780004376.1A Active CN108472674B (zh) 2016-03-29 2017-03-29 用于清洁建筑物的外墙壁的系统

Country Status (8)

Country Link
US (1) US10214926B2 (ja)
JP (2) JP2019517829A (ja)
KR (1) KR102352730B1 (ja)
CN (1) CN108472674B (ja)
AU (1) AU2017203045C1 (ja)
MY (1) MY190409A (ja)
SA (1) SA518400010B1 (ja)
WO (1) WO2017171644A1 (ja)

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US10584500B2 (en) * 2016-06-06 2020-03-10 John A Tann Assembly for accessing an electronic display
US11230301B2 (en) * 2017-06-05 2022-01-25 II Richard William Lewis Transit cleaning unit
CN109838073B (zh) 2017-11-24 2022-04-29 亿立科技国际有限公司 用于喷涂建筑物的墙壁的自动化系统
CN107876256B (zh) * 2017-12-07 2024-01-05 北京好运达智创科技有限公司 一种水泥轨枕脱膜剂自动喷涂机
WO2019136571A1 (zh) * 2018-01-09 2019-07-18 高建文 可供人员搭载用以检修外墙的吊笼
CN107969981A (zh) * 2018-01-16 2018-05-01 苏州瀚昆机器人科技有限公司 一种两足式爬壁机器人
SG11202007483TA (en) * 2018-02-08 2020-09-29 Skyline Robotics Ltd Device and method for use in cleaning a facade
CN108868141B (zh) * 2018-10-18 2019-01-01 上海建工集团股份有限公司 超高层建筑3d打印装置及方法
CN109199215B (zh) * 2018-11-28 2020-08-28 合肥海诺恒信息科技有限公司 一种多功能高空玻璃清洁安全背挂式吸附装置
WO2020124153A1 (en) * 2018-12-21 2020-06-25 Equilateral Group Pty Ltd A hoist system and method
CN112869666B (zh) * 2019-05-28 2021-11-23 聊城科创节能设备有限公司 一种幕墙工程用清洗天车
US11517923B2 (en) * 2019-07-30 2022-12-06 Roof Equipment LLC Application system
CN111350341B (zh) * 2020-03-13 2021-12-10 湖南鼎晟建设工程有限公司 一种外墙施工用吊篮的安全防护结构
CN111345750A (zh) * 2020-03-23 2020-06-30 河南理工大学 一种玻璃幕墙清洗机器人及其使用方法
CN111851981B (zh) * 2020-08-25 2021-09-24 中国建筑一局(集团)有限公司 基数控制终端用建筑幕墙施工吊篮
CN112924096B (zh) * 2021-01-27 2023-04-14 新十建设集团有限公司 建筑外立面外窗淋水试验装置
CN113232030B (zh) * 2021-05-31 2023-09-08 王正琼 一种高速公路收费门架设备自动清洗机器人
CN113617554B (zh) * 2021-07-15 2022-05-24 江苏科技大学 用于船舶分段涂装的移动式索并联喷涂装备
GR20220100165A (el) * 2022-02-24 2023-09-08 Κορρες, Δημητριος Ιωαννη Συστημα καθαρισμου εξωτερικης επιφανειας κτηριων

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JPH07109831A (ja) * 1993-10-14 1995-04-25 M Eng:Kk ゴンドラの安定保持装置
CN200978517Y (zh) * 2006-08-30 2007-11-21 麦永光 高层楼寓外墙擦洗喷涂机器人
CN103750789A (zh) * 2014-01-24 2014-04-30 成都万先自动化科技有限责任公司 吊丝式清洁服务机器人
JP5688268B2 (ja) * 2010-11-08 2015-03-25 株式会社エルエーシー 曲面塗装装置
CN204769318U (zh) * 2015-07-16 2015-11-18 郑州润东机械设备有限公司 一种自动扫描生成喷涂轨迹的自动喷漆装置
CN105178574A (zh) * 2015-07-13 2015-12-23 马鞍山市志诚科技有限公司 具有视觉自动跟踪功能的喷涂机器人

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4993913A (en) * 1988-07-15 1991-02-19 Nihon Biso Kabushiki Kaisha Robot for a work on a wall surface
JPH07109831A (ja) * 1993-10-14 1995-04-25 M Eng:Kk ゴンドラの安定保持装置
CN200978517Y (zh) * 2006-08-30 2007-11-21 麦永光 高层楼寓外墙擦洗喷涂机器人
JP5688268B2 (ja) * 2010-11-08 2015-03-25 株式会社エルエーシー 曲面塗装装置
CN103750789A (zh) * 2014-01-24 2014-04-30 成都万先自动化科技有限责任公司 吊丝式清洁服务机器人
CN105178574A (zh) * 2015-07-13 2015-12-23 马鞍山市志诚科技有限公司 具有视觉自动跟踪功能的喷涂机器人
CN204769318U (zh) * 2015-07-16 2015-11-18 郑州润东机械设备有限公司 一种自动扫描生成喷涂轨迹的自动喷漆装置

Also Published As

Publication number Publication date
SA518400010B1 (ar) 2022-01-17
CN108472674A (zh) 2018-08-31
WO2017171644A1 (en) 2017-10-05
JP2022101566A (ja) 2022-07-06
JP2019517829A (ja) 2019-06-27
AU2017203045B2 (en) 2022-09-01
US10214926B2 (en) 2019-02-26
AU2017203045A1 (en) 2017-10-19
AU2017203045C1 (en) 2023-02-23
MY190409A (en) 2022-04-21
KR102352730B1 (ko) 2022-01-19
US20170284113A1 (en) 2017-10-05
KR20180136438A (ko) 2018-12-24

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